Multibody dynamics in natural coordinates through automatic differentiation and high-index DAE solving

Pryce, John ORCID: https://orcid.org/0000-0003-1702-7624 and Nedialkov, Nedialko S. 2020. Multibody dynamics in natural coordinates through automatic differentiation and high-index DAE solving. Acta Cybernetica 24 (3) 10.14232/ACTACYB.24.3.2020.4

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Abstract

The Natural Coordinates (NCs) method for Lagrangian modelling and simulation of multi-body systems is valued for giving simple, sparse models. We describe our version of it (NPNCs) and compare with the classical ap- proach of Jalón and Bayo (JBNCs). NPNCs use the high-index differential- algebraic equation solver DAETS. Algorithmic differentiation, not symbolic algebra, forms the equations of motion from the Lagrangian. NPNCs give significantly smaller equation systems than JBNCs, at the cost of a non- constant mass matrix for fully 3D models—a minor downside in the DAETS context. A 2D and a 3D example are presented, with numerical results.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Mathematics
Date of First Compliant Deposit:	17 October 2019
Date of Acceptance:	27 September 2019
Last Modified:	18 Nov 2024 01:00
URI:	https://orca.cardiff.ac.uk/id/eprint/126082

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